2014-09-17T18:45:49.327Z,1410979549.327 [Supervisor](DEBUG): Initializing supervisor.
2014-09-17T18:45:49.329Z,1410979549.329 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2014-09-17T18:45:49.330Z,1410979549.330 [SyncHandler](INFO): Protected caller Thread ID is 1001
2014-09-17T18:45:49.330Z,1410979549.330 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-09-17T18:45:49.331Z,1410979549.331 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2014-09-17T18:45:49.332Z,1410979549.332 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1002
2014-09-17T18:45:49.335Z,1410979549.335 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-09-17T18:45:49.346Z,1410979549.346 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-09-17T18:45:49.347Z,1410979549.347 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2014-09-17T18:45:49.347Z,1410979549.347 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1003
2014-09-17T18:45:49.348Z,1410979549.348 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-09-17T18:45:49.349Z,1410979549.349 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2014-09-17T18:45:49.350Z,1410979549.350 [logger ThreadHandler](INFO): Protected caller Thread ID is 1004
2014-09-17T18:45:49.352Z,1410979549.352 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-09-17T18:45:49.352Z,1410979549.352 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-09-17T18:45:49.354Z,1410979549.354 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-09-17T18:45:49.684Z,1410979549.684 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-09-17T18:45:49.684Z,1410979549.684 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-09-17T18:45:49.839Z,1410979549.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-09-17T18:45:49.840Z,1410979549.840 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-09-17T18:45:49.947Z,1410979549.947 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-09-17T18:45:49.947Z,1410979549.947 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-09-17T18:45:50.069Z,1410979550.069 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-09-17T18:45:50.070Z,1410979550.070 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-09-17T18:45:50.154Z,1410979550.154 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-09-17T18:45:50.297Z,1410979550.297 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-09-17T18:45:50.298Z,1410979550.298 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-09-17T18:45:50.382Z,1410979550.382 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-09-17T18:45:50.383Z,1410979550.383 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-09-17T18:45:50.591Z,1410979550.591 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-09-17T18:45:50.592Z,1410979550.592 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-09-17T18:45:50.912Z,1410979550.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-09-17T18:45:50.912Z,1410979550.912 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-09-17T18:45:51.213Z,1410979551.213 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-09-17T18:45:51.213Z,1410979551.213 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-09-17T18:45:51.703Z,1410979551.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-09-17T18:45:51.704Z,1410979551.704 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-09-17T18:45:51.892Z,1410979551.892 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-09-17T18:45:51.893Z,1410979551.893 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-09-17T18:45:51.996Z,1410979551.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-09-17T18:45:51.997Z,1410979551.997 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-09-17T18:45:52.408Z,1410979552.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-09-17T18:45:52.408Z,1410979552.408 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-09-17T18:45:52.517Z,1410979552.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-09-17T18:45:52.520Z,1410979552.520 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-09-17T18:45:52.520Z,1410979552.520 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-09-17T18:45:52.624Z,1410979552.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-09-17T18:45:52.744Z,1410979552.744 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-09-17T18:45:52.840Z,1410979552.840 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-09-17T18:45:52.949Z,1410979552.949 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-09-17T18:45:53.045Z,1410979553.045 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-09-17T18:45:53.173Z,1410979553.173 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-09-17T18:45:53.322Z,1410979553.322 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-09-17T18:45:53.422Z,1410979553.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-09-17T18:45:53.506Z,1410979553.506 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-09-17T18:45:53.585Z,1410979553.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-09-17T18:45:53.681Z,1410979553.681 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-09-17T18:45:53.793Z,1410979553.793 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2014-09-17T18:45:53.793Z,1410979553.793 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-09-17T18:45:53.795Z,1410979553.795 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-09-17T18:45:53.845Z,1410979553.845 [VerticalControl](DEBUG): Construct VerticalControl.
2014-09-17T18:45:53.961Z,1410979553.961 [VerticalControl] Loaded
2014-09-17T18:45:53.961Z,1410979553.961 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-09-17T18:45:53.962Z,1410979553.962 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-09-17T18:45:54.031Z,1410979554.031 [HorizontalControl] Loaded
2014-09-17T18:45:54.032Z,1410979554.032 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-09-17T18:45:54.032Z,1410979554.032 [SpeedControl](DEBUG): Construct SpeedControl.
2014-09-17T18:45:54.038Z,1410979554.038 [SpeedControl] Loaded
2014-09-17T18:45:54.038Z,1410979554.038 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-09-17T18:45:54.039Z,1410979554.039 [LoopControl](DEBUG): Construct LoopControl.
2014-09-17T18:45:54.039Z,1410979554.039 [LoopControl] Loaded
2014-09-17T18:45:54.040Z,1410979554.040 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-09-17T18:45:54.040Z,1410979554.040 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-09-17T18:45:54.041Z,1410979554.041 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-09-17T18:45:54.134Z,1410979554.134 [SBIT](DEBUG): Construct Startup Built In Test.
2014-09-17T18:45:54.146Z,1410979554.146 [SBIT] Loaded
2014-09-17T18:45:54.146Z,1410979554.146 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-09-17T18:45:54.147Z,1410979554.147 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-09-17T18:45:54.175Z,1410979554.175 [IBIT] Loaded
2014-09-17T18:45:54.175Z,1410979554.175 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-09-17T18:45:54.177Z,1410979554.177 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-09-17T18:45:54.283Z,1410979554.283 [CBIT] Loaded
2014-09-17T18:45:54.284Z,1410979554.284 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-09-17T18:45:54.284Z,1410979554.284 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-09-17T18:45:54.285Z,1410979554.285 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-09-17T18:45:54.303Z,1410979554.303 [DepthRateCalculator] Loaded
2014-09-17T18:45:54.303Z,1410979554.303 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-09-17T18:45:54.309Z,1410979554.309 [PitchRateCalculator] Loaded
2014-09-17T18:45:54.309Z,1410979554.309 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-09-17T18:45:54.320Z,1410979554.320 [SpeedCalculator] Loaded
2014-09-17T18:45:54.321Z,1410979554.321 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-09-17T18:45:54.337Z,1410979554.337 [TempGradientCalculator] Loaded
2014-09-17T18:45:54.337Z,1410979554.337 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-09-17T18:45:54.342Z,1410979554.342 [YawRateCalculator] Loaded
2014-09-17T18:45:54.343Z,1410979554.343 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-09-17T18:45:54.343Z,1410979554.343 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-09-17T18:45:54.344Z,1410979554.344 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-09-17T18:45:54.393Z,1410979554.393 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-09-17T18:45:54.393Z,1410979554.393 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-09-17T18:45:54.613Z,1410979554.613 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-09-17T18:45:54.614Z,1410979554.614 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-09-17T18:45:54.692Z,1410979554.692 [DeadReckonUsingMultipleVelocitySourcesVector] Loaded
2014-09-17T18:45:54.692Z,1410979554.692 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySourcesVector" handled in the control thread.
2014-09-17T18:45:54.745Z,1410979554.745 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-09-17T18:45:54.746Z,1410979554.746 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-09-17T18:45:54.789Z,1410979554.789 [DeadReckonWithRespectToWater] Loaded
2014-09-17T18:45:54.790Z,1410979554.790 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToWater" handled in the control thread.
2014-09-17T18:45:54.835Z,1410979554.835 [DeadReckonWithRespectToSeafloor] Loaded
2014-09-17T18:45:54.835Z,1410979554.835 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2014-09-17T18:45:54.893Z,1410979554.893 [DeadReckonUsingDVLWaterTrack] Loaded
2014-09-17T18:45:54.893Z,1410979554.893 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingDVLWaterTrack" handled in the control thread.
2014-09-17T18:45:54.940Z,1410979554.940 [DeadReckonUsingCompactModelForecast] Loaded
2014-09-17T18:45:54.941Z,1410979554.941 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingCompactModelForecast" handled in the control thread.
2014-09-17T18:45:54.957Z,1410979554.957 [NavChart] Loaded
2014-09-17T18:45:54.957Z,1410979554.957 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-09-17T18:45:54.961Z,1410979554.961 [UniversalFixResidualReporter] Loaded
2014-09-17T18:45:54.962Z,1410979554.962 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-09-17T18:45:54.962Z,1410979554.962 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-09-17T18:45:54.962Z,1410979554.962 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-09-17T18:45:54.968Z,1410979554.968 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-09-17T18:45:54.969Z,1410979554.969 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-09-17T18:45:55.136Z,1410979555.136 [Aanderaa_O2] Loaded
2014-09-17T18:45:55.137Z,1410979555.137 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2014-09-17T18:45:55.172Z,1410979555.172 [CTD_NeilBrown] Loaded
2014-09-17T18:45:55.172Z,1410979555.172 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-09-17T18:45:55.173Z,1410979555.173 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 405644E0
2014-09-17T18:45:55.174Z,1410979555.174 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1086
2014-09-17T18:45:55.189Z,1410979555.189 [PAR_Licor] Loaded
2014-09-17T18:45:55.189Z,1410979555.189 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-09-17T18:45:55.224Z,1410979555.224 [WetLabsBB2FL] Loaded
2014-09-17T18:45:55.224Z,1410979555.224 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-09-17T18:45:55.225Z,1410979555.225 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 405944E0
2014-09-17T18:45:55.225Z,1410979555.225 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1087
2014-09-17T18:45:55.226Z,1410979555.226 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-09-17T18:45:55.227Z,1410979555.227 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-09-17T18:45:55.514Z,1410979555.514 [AHRS_sp3003D] Loaded
2014-09-17T18:45:55.515Z,1410979555.515 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-09-17T18:45:55.733Z,1410979555.733 [Batt_Ocean_Server] Loaded
2014-09-17T18:45:55.734Z,1410979555.734 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-09-17T18:45:55.747Z,1410979555.747 [Depth_Keller] Loaded
2014-09-17T18:45:55.748Z,1410979555.748 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-09-17T18:45:55.752Z,1410979555.752 [DropWeight] Loaded
2014-09-17T18:45:55.753Z,1410979555.753 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-09-17T18:45:55.883Z,1410979555.883 [DVL_micro] Loaded
2014-09-17T18:45:55.883Z,1410979555.883 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-09-17T18:45:55.976Z,1410979555.976 [NAL9602] Loaded
2014-09-17T18:45:55.976Z,1410979555.976 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-09-17T18:45:56.017Z,1410979556.017 [Onboard] Loaded
2014-09-17T18:45:56.017Z,1410979556.017 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-09-17T18:45:56.024Z,1410979556.024 [Radio_Freewave] Loaded
2014-09-17T18:45:56.024Z,1410979556.024 [ComponentRegistry](DEBUG): Component "Radio_Freewave" handled in its own thread.
2014-09-17T18:45:56.025Z,1410979556.025 [Radio_Freewave ThreadHandler](DEBUG): Created PCaller Thread at 407D44E0
2014-09-17T18:45:56.026Z,1410979556.026 [Radio_Freewave ThreadHandler](INFO): Protected caller Thread ID is 1088
2014-09-17T18:45:56.033Z,1410979556.033 [Radio_Surface] Loaded
2014-09-17T18:45:56.033Z,1410979556.033 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2014-09-17T18:45:56.034Z,1410979556.034 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408044E0
2014-09-17T18:45:56.034Z,1410979556.034 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1089
2014-09-17T18:45:56.196Z,1410979556.196 [DAT] Loaded
2014-09-17T18:45:56.196Z,1410979556.196 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2014-09-17T18:45:56.197Z,1410979556.197 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-09-17T18:45:56.197Z,1410979556.197 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-09-17T18:45:56.293Z,1410979556.293 [BuoyancyServo] Loaded
2014-09-17T18:45:56.294Z,1410979556.294 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-09-17T18:45:56.305Z,1410979556.305 [ElevatorServo] Loaded
2014-09-17T18:45:56.306Z,1410979556.306 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-09-17T18:45:56.317Z,1410979556.317 [MassServo] Loaded
2014-09-17T18:45:56.318Z,1410979556.318 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-09-17T18:45:56.329Z,1410979556.329 [RudderServo] Loaded
2014-09-17T18:45:56.330Z,1410979556.330 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-09-17T18:45:56.341Z,1410979556.341 [ThrusterServo] Loaded
2014-09-17T18:45:56.341Z,1410979556.341 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-09-17T18:45:56.341Z,1410979556.341 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-09-17T18:45:56.342Z,1410979556.342 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-09-17T18:45:56.495Z,1410979556.495 [InternalSim] Loaded
2014-09-17T18:45:56.495Z,1410979556.495 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-09-17T18:45:56.496Z,1410979556.496 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-09-17T18:45:56.496Z,1410979556.496 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-09-17T18:45:56.519Z,1410979556.519 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-09-17T18:45:56.521Z,1410979556.521 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-09-17T18:45:56.522Z,1410979556.522 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-09-17T18:45:56.529Z,1410979556.529 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-09-17T18:45:56.530Z,1410979556.530 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408B54E0
2014-09-17T18:45:56.530Z,1410979556.530 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1090
2014-09-17T18:45:56.535Z,1410979556.535 [Supervisor](INFO): Main Thread ID is 1000
2014-09-17T18:45:56.535Z,1410979556.535 [Supervisor](DEBUG): Running supervisor.
2014-09-17T18:45:56.536Z,1410979556.536 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1091
2014-09-17T18:45:56.539Z,1410979556.539 [controlThread ThreadHandler](INFO): Handler Thread ID is 1092
2014-09-17T18:45:56.540Z,1410979556.540 [controlThread](DEBUG): Initializing ControlThread
2014-09-17T18:45:56.541Z,1410979556.541 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-09-17T18:45:56.543Z,1410979556.543 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-09-17T18:45:56.543Z,1410979556.543 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-09-17T18:45:56.544Z,1410979556.544 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-09-17T18:45:56.544Z,1410979556.544 [SBIT](INFO): Initialize SBIT Component.
2014-09-17T18:45:56.545Z,1410979556.545 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11640
2014-09-17T18:45:56.545Z,1410979556.545 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2014-09-17T18:45:56.545Z,1410979556.545 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-09-17T18:45:56.546Z,1410979556.546 [IBIT](INFO): Initialize IBIT Component.
2014-09-17T18:45:56.547Z,1410979556.547 [CBIT](DEBUG): Initialize CBIT Component.
2014-09-17T18:45:56.547Z,1410979556.547 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-09-17T18:45:56.548Z,1410979556.548 [logger ThreadHandler](INFO): Handler Thread ID is 1093
2014-09-17T18:45:56.568Z,1410979556.568 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1094
2014-09-17T18:45:56.569Z,1410979556.569 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-09-17T18:45:56.572Z,1410979556.572 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-09-17T18:45:56.573Z,1410979556.573 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-09-17T18:45:56.573Z,1410979556.573 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-09-17T18:45:56.573Z,1410979556.573 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-09-17T18:45:56.574Z,1410979556.574 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-09-17T18:45:56.574Z,1410979556.574 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Initializing DeadReckonUsingMultipleVelocitySourcesVector component.
2014-09-17T18:45:56.574Z,1410979556.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-09-17T18:45:56.575Z,1410979556.575 [DeadReckonWithRespectToWater](DEBUG): Initializing DeadReckonWithRespectToWater component.
2014-09-17T18:45:56.575Z,1410979556.575 [DeadReckonWithRespectToSeafloor](DEBUG): Initializing DeadReckonWithRespectToSeafloor component.
2014-09-17T18:45:56.575Z,1410979556.575 [DeadReckonUsingDVLWaterTrack](DEBUG): Initializing DeadReckonUsingDVLWaterTrack component.
2014-09-17T18:45:56.576Z,1410979556.576 [DeadReckonUsingCompactModelForecast](DEBUG): Initializing DeadReckonUsingCompactModelForecast component.
2014-09-17T18:45:56.576Z,1410979556.576 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-09-17T18:45:56.577Z,1410979556.577 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-09-17T18:45:56.582Z,1410979556.582 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-09-17T18:45:56.596Z,1410979556.596 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1096
2014-09-17T18:45:56.597Z,1410979556.597 [WetLabsBB2FL](INFO): Powering down
2014-09-17T18:45:56.621Z,1410979556.621 [Radio_Freewave ThreadHandler](INFO): Handler Thread ID is 1097
2014-09-17T18:45:56.656Z,1410979556.656 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1099
2014-09-17T18:45:56.665Z,1410979556.665 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1100
2014-09-17T18:45:56.668Z,1410979556.668 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-09-17T18:45:56.669Z,1410979556.669 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-09-17T18:45:56.669Z,1410979556.669 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-09-17T18:45:56.669Z,1410979556.669 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-09-17T18:45:56.669Z,1410979556.669 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-09-17T18:45:56.670Z,1410979556.670 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-09-17T18:45:56.670Z,1410979556.670 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-09-17T18:45:56.670Z,1410979556.670 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-09-17T18:45:56.671Z,1410979556.671 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-09-17T18:45:56.883Z,1410979556.883 [Radio_Freewave](INFO): Powering up
2014-09-17T18:45:57.687Z,1410979557.687 [Radio_Freewave](IMPORTANT): Starting PPPD with command:/sbin/pppd nocrtscts /dev/ttyS1 noauth 115200 10.1.1.2:10.1.1.1 persist maxfail 0
2014-09-17T18:45:58.568Z,1410979558.568 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-09-17T18:45:58.600Z,1410979558.600 [InternalSim](DEBUG):  InternalSim initializing...
2014-09-17T18:45:58.702Z,1410979558.702 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-09-17T18:45:58.727Z,1410979558.727 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-09-17T18:45:58.745Z,1410979558.745 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2014-09-17T18:45:58.746Z,1410979558.746 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-09-17T18:45:58.850Z,1410979558.850 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2014-09-17T18:45:58.853Z,1410979558.853 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2014-09-17T18:45:58.866Z,1410979558.866 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-09-17T18:45:58.903Z,1410979558.903 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2014-09-17T18:45:58.925Z,1410979558.925 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-09-17T18:45:58.949Z,1410979558.949 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-09-17T18:45:58.955Z,1410979558.955 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="TimeMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedSinceMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <Aggregate Id="StartClock">

        <Sequence/>

        <Assign><Arg Name="TimeMissionWasStarted"/><Universal:time/></Assign>

    </Aggregate>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or><Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

<!-- TODO: Do we really want this When operating on platform_communications? or on something else like time_fix? -->

<!-- Run application at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
<!-- NOTE: Original Default.xml didn't have a timeout on the GPS read, so theoretically could have hung indefinitely there... -->
            <Universal:latitude_fix/>
        </ReadDatum>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="UpdateAndReportMinutesSinceMissionStarted">

        <When>
            <Elapsed><Arg Name="ElapsedSinceMissionWasStarted"/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
        </When>

        <Assign><Arg Name="ElapsedSinceMissionWasStarted"/><Universal:time/><Sub><Arg Name="TimeMissionWasStarted"/></Sub></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceMissionWasStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunApplicationAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

    </Aggregate>

</Mission>


2014-09-17T18:45:58.965Z,1410979558.965 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,Aanderaa_O2,PAR_Licor,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,DAT,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySourcesVector,DeadReckonUsingMultipleVelocitySources,DeadReckonWithRespectToWater,DeadReckonWithRespectToSeafloor,DeadReckonUsingDVLWaterTrack,DeadReckonUsingCompactModelForecast,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-09-17T18:45:59.170Z,1410979559.170 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-09-17T18:45:59.338Z,1410979559.338 [DVL_micro](INFO): Initializing
2014-09-17T18:45:59.400Z,1410979559.400 [DAT](INFO): Powering up
2014-09-17T18:45:59.400Z,1410979559.400 [DAT](DEBUG): Initializing DAT.
2014-09-17T18:45:59.519Z,1410979559.519 [DeadReckonUsingMultipleVelocitySourcesVector](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-17T18:45:59.544Z,1410979559.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-17T18:45:59.567Z,1410979559.567 [DeadReckonWithRespectToWater](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-17T18:45:59.590Z,1410979559.590 [DeadReckonWithRespectToSeafloor](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-17T18:45:59.623Z,1410979559.623 [DeadReckonUsingDVLWaterTrack](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-17T18:45:59.645Z,1410979559.645 [DeadReckonUsingCompactModelForecast](DEBUG): Could not determine rotation from vehicle frame to navigation frame.
2014-09-17T18:45:59.770Z,1410979559.770 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-09-17T18:45:59.777Z,1410979559.777 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-09-17T18:45:59.796Z,1410979559.796 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-09-17T18:45:59.801Z,1410979559.801 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-09-17T18:45:59.815Z,1410979559.815 [MassServo](DEBUG): Initializing EZServoServo.
2014-09-17T18:45:59.821Z,1410979559.821 [MassServo](DEBUG): In